{
  "abstract": "A humanoid robot system comprises vision sensors for capturing image data, a computing architecture with processing hardware and memory, and a bipedal spatial perception model. The model includes a feature extractor that extracts hierarchical feature maps from input images, a robot data module that detects robot parts, and a robot vector data module that calculates three-dimensional spatial position and orientation data for each detected robot part. The feature extractor uses a feature pyramid network generating multi-scale feature maps through bottom-up and top-down pathways with lateral connections. The robot vector data module predicts 2D-to-3D point correspondences and solves perspective-n-point problems to obtain final position and orientation vectors, enabling real-time robot self-awareness and closed-loop visual servoing for precise object interaction.",
  "assignees": [
    "FIGURE AI INC"
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  "authors": [
    "Foucard Louis",
    "STATHIS CHRISTOPHER",
    "WU HAO"
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  "title": "System and method for training and using a bipedal spatial perception model",
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